Motion Planning of Multiple Agents in Virtual Environments using Coordination Graphs
Motion Planning of Multiple Agents in Virtual Environments using Coordination Graphs
复制标题
使用协调图进行虚拟环境中多个智能体的运动规划
DOI：
10.1109/robot.2005.1570148
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Payandeh
中科院分区：
文献类型：
--
作者：
Yi Li;K. Gupta;S. Payandeh
虚拟环境中多个移动的智能体的运动规划是一个非常具有挑战性的问题，特别是如果一个人想要实时规划这些智能体的运动。我们提出了一个两层的方法来规划运动的多个移动的代理实时。移动的代理在一个2维静态环境中移动，开放空间通过狭窄的走廊相互连接。每个智能体的全局路径由一个解耦的规划器在预处理过程中以最小延迟计算。每个代理的本地路径的实时生成相结合的转向行为和一个新的，原则性的和有效的人工智能技术的决策和规划合作的多智能体动态系统，协调图（CG）。使用CG，我们不仅可以避免在狭窄的走廊中出现死锁，还可以实现更复杂的行为，例如领导者和追随者行为。通过一些初步的例子，我们展示了我们的方法的实时性能，例如，几个机器人避免死锁并成功地导航走廊。
Motion planning of multiple mobile agents in virtual environments is a very challenging problem, especially if one wants to plan the motions of these agents in real-time. We propose a two layered approach to plan motions of multiple mobile agents in real-time. The mobile agents are moving in a 2-dimensional static environment with open spaces connected to each other by narrow corridors. The global path of each agent is computed by a decoupled planner during the preprocessing process with minimum delay. Each agent’s local path is generated in real-time by combining steering behaviors and a new, principled and efficient AI technique for decision making and planning cooperative multi-agent dynamic systems, Coordination Graph (CG). With CG, we can not only avoid deadlocks in narrow corridors, but also achieve more complicated behavior such as leader-and-followers behavior. We show, via some preliminary examples, real-time performance of our approach, for instance, several robots avoiding deadlocks and successfully navigating a corridor.